Environmental perception can help vehicles observe and understand the surrounding situation. The ability to recognize and distinguish between dynamic and static objects in the environment is the key to safe and reliable autonomous navigation. At the same time, this information can also be used for many downstream tasks, such as avoiding obstacles [1]}, static map construction [2]}, and path planning [3]}.
Therefore, being able to perform accurate and reliable moving object segmentation (MOS) based on LiDAR sequences online is a key capability to improve the perception of autonomous mobile systems.
To reason about the motion of the surrounding objects, one needs to exploit 4D spatio-temporal information.
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